Research Catalog

Title

Advances in robot kinematics : analysis and design / Jadran Lenarčič, Philippe Wenger, editors.

Publication

[New York] : Springer, [2008], ©2008.

Items in the Library & Off-site

Details

Additional Authors

• Lenarčič, J. (Jadran)
• Wenger, Philippe.

Description

xi, 472 pages : illustrations; 25 cm

Subject

• Robots > Kinematics

Bibliography (note)

• Includes bibliographical references and indexes.

Contents

Singularity Analysis of Parallel Manipulators -- A New Assessment of Singularities of Parallel Kinematic Chains / Michele Conconi and Marco Carricato -- Singularity Analysis through Static Analysis / J. Hubert and J.-P. Merlet -- Constraint Singularities and the Structural Parameters of Parallel Robots / Grigore Gogu -- Forward Kinematics and Singularity Analysis of a 3-RPR Planar Parallel Manipulator / Xianwen Kong -- Geometric Algebra Approach to Singularity of Parallel Manipulators with Limited Mobility / Tanio K. Tanev -- SinguLab - A Graphical User Interface for the Singularity Analysis of Parallel Robots Based on Grassmann-Cayley Algebra / Patricia Ben-Horin, Moshe Shoham, Stephane Caro, Damien Chablat and Philippe Wenger -- Singularity Analysis of Limited-DOF Parallel Manipulators Using Grassmann-Cayley Algebra / Daniel Kanaan, Philippe Wenger and Damien Chablat -- Design of Robots and Mechanisms -- On the Design of Fully Constrained Parallel Cable-Driven Robots / M. Gouttefarde, S. Krut, O. Company, F. Pierot and N. Ramdani -- Synthesis of Part Orienting Devices for Spatial Assembly Tasks / P. Larochelle -- Minimum Energy Manipulator Design / A. Rojas Salgado and Y. Ledezman Rubio -- Synthesis and Analysis of a Constrained Spherical Parallel Manipulator / G. S. Soh and J. M. McCarthy -- A Nonholonomic 3-DOF Parallel Robot / Patricia Ben-Horin and Federico Thomas -- 4DOF Parallel Architecture for Laparoscopic Surgery / Mohammad Aamir Khan, Matteo Zoppi and Rezio Molfino -- Flapping-Wing Mechanism for a Bird-Sized UAVs: Design, Modeling and Control / Ch. Grand, P. Martinelli, J.-B. Mouret and S. Doncieux -- Extended Jacobian Inverse Kinematics and Approximation of Distributions / Mariusz Janiak and Krzysztof Tchon -- A Screw Syzygy with Applications to Robot Singularity Computation / J. M. Selig and Peter Donelan -- Singularity Robust Jacobian Inverse Kinematics for Mobile Manipulators / Krzysztof Tchon and Lukasz Matek -- Robots Based on Assur Group A (3.5) / Karl Wohlart -- Kinematics of Free-Floating Systems through Optimal Control Theory / G. Le Vey -- Genericity Conditions for Serial Manipulators / Peter Donelan -- Alternative Forms for Displacement Screws and Their Pitches / I. A. Parkin -- Motion Planning and Mobility -- Time-Invariant Strategies in Coordination of Human Reaching / Satyajit Ambike and James P. Schmiedeler -- Mobility and Higher Order Local Analysis of the Configuration Space of Single-Loop Mechanisms / A. Muller and J. M. Rico -- Optimization of a Test Trajectory for SCARA Systems / J.-F. Gauthier, J. Angeles and S. Nokleby -- Singularity Free Path Planning for Parallel Robots / Samir Lahouar, Said Zeghloul and Lotfi Romdhane -- A Comparison between Two Motion Planning Strategies for Kinematically Redundant Parallel Manipulators / J. A. Carretero, I. Ebrahimi and R. Boudreau -- Trajectory Planning of Parallel Manipulators for Global Performance Optimization / Ofelia G. Alba-Gomez, J. Alfonso Pamanes and Philippe Wenger -- Human Motion Reconstruction by Direct Control of Marker Trajectories / Emel Demircan, Luis Sentis, Vincent De Sapio and Oussama Khatib -- Performance and Properties of Mechanisms -- New Self-Motions of Parallel Manipulators / Adolf Karger -- Exact Envelope Computation for Moving Surfaces with Quadratic Support Functions / Margot Rabl, Bert Juttler and Laureano Gonzalez-Vega -- A Compound-Structure Frame for Improving the Performance of a Dielectric Elastomer Actuator / Giovanni Berselli, Rocco Vertechy, Gabriele Vassura and Vincenzo Parenti Castelli -- Transitions between Multiple Solutions of the Direct Kinematic Problem / E. Macho, O. Altuzarra, C. Pinto and A. Hernandez -- Kinetostatic Performance of a Planar Parallel Mechanism with Variable Actuation / N. Rakotomanga, D. Chablat and S. Caro -- Results on Planar Parallel Manipulators with Cylindrical Singularity Surface / G. Nawratil -- Stiffness Matrix of Compliant Parallel Mechanisms / C. Quennouelle and C. M. Gosselin -- Measure and Calibration -- A Pair of Measures of Rotational Error for Axisymmetric Robot End-Effectors / Sebastien Briot and Ilian A. Bonev -- Angular-Velocity Estimation from the Centripetal Component of the Rigid-Body Acceleration Field / Philippe Cardou and Jorge Angeles -- A Novel Point of View to Define the Distance between Two Rigid-Body Poses / Raffaele Di Gregorio -- Parallel Robot Calibration by Working Mode Change / P. Last, C. Budde, D. Schutz, J. Hesselbach and A. Raatz -- Augmented Model of the 3-PRS Manipulator for Kinematic Calibration / Steven M. O'Brien and Juan A. Carretero -- The Calibration of a Parallel Manipulator with Binary Actuation / Jean-Sebastien Plante and Steven Dubowsky -- Stability Measure of Postural Dynamic Equilibrium Based on Residual Radius / Sebastien Barthelemy and Philippe Bidaud -- Kinematic Analysis and Workspace -- A Geometrical Characterization of Workspace Singularities in 3R Manipulators / M. Husty, E. Ottaviano and M. Ceccarelli -- Kinematic Analysis of a Planar Tensegrity Mechanism with Pre-Stressed Springs / Carl D. Crane III, Jahan Bayat, Vishesh Vikas and Rodney Roberts -- Inverse Kinematics of Robot Manipulators with Multiple Moving Control Points / Agostino De Santis and Bruno Siciliano -- On the Delassus Parallelogram / Chung-Clung Lee and Jacques M. Herve -- Forward Kinematics and Workspace Determination of a Wire Robot for Industrial Applications / Andreas Pott -- Kinematic Modeling and Workspace Generation for a New Paralell Robot Used in Minimally Invasive Surgery / Doina Pisla, Nicolae Plitea and Calin Vaida.

ISBN

• 9781402085994
• 1402085990

LCCN

• 2008927513
• 40016006755

OCLC

• ocn243603465
• 243603465
• SCSB-5439054

Owning Institutions

Columbia University Libraries